Radio controlled rocket



Dec. 3l, 94 HI HAMMOND, JR 2,43,621

RADIO CONTROLLED ROCKET Filed March 22,1944 s sheets-sheet 1 axPLoswa I3Racen/R .b 0 a .I I9 w n TIB 9 Dc. 31, 1946. L H, HAMMQND, JR 2,413,621

RADIO CONTROLLED ROCKET Filed March 22, 1944 3 Sheets-Sheet 2 76 Recs:VER

lNvENroR JoHN HAvYs HAMMoND, JR.

BY f

Patented Dec. 31, 1946 'RADIO .CONTROLLED ROCKET John Hays Hammond, Jr.,Gloucester, Mass., as-

signor to Radio Corporation of America, New York, N. Y., acorporartionof Delaware Application March 22, 1944,Serlal No.' 527,536

' I 6 claims. (ci. 1oz- 50) vThe invention relates to the radio-dynamic.

control of rockets and more particularly to a radio control systemwhichV can selectively steer the rocket inany one of a pluralityofdirections.

The invention provides means for controlling Ythe path of night of arocket in connection with gyroscopic or other stabilizing means in"which the rocket may be caused to travel on a definite. course under-gyroscopic control, this course, however, being cap-able. of beingchanged by means of radio control.` Y Y The invention also consists incertain new and original features of construction and combinai .tions ofparts hereinafter set forth and claimed.

Although the novel features which are believed to'be characteristic of`thisinvention will be particularly pointed out in the claims appendedhereto, the invention itself, as to its objects and advantages, :themode of its operation and the -ma`riner of its organization may bebetter under- 'stood -by referring to the following description taken in2 connection with the accompanying drawings forming a part thereof, inwhich Fig. 1 is a iongitudinai section of the forward portion of arocket embodying the present/invention.` Y

Fig. 2 isa longitudinal section of the after portion ofthe rocket; g Y

Fig. 3 is a section taken on line 3-'-3 ofFig. 1; vFig'fl` is anenlarged Vview vof the control box; Figf isla plan view of thecontrol'box;

and I'I.Y Thev propulsion compartment I5 (Fig. 2) is connected at itslower end to a discharge tube I8. Mounted on the discharge tube I8 arefins 20. The explosive compartment I3 is filled with a high explosive I9and the propulsion compartment l5 is lled with sticks of slow burningpowder 2I or other suitable material for rocket propulsion.

In the control compartment I4 are located two gyroscopes 22 and 222, aradio receiver 24 and a ,rudder operating mechanism 25. The gyroscope 22comprises a rotor (not shown) mounted for rotation in a rotor casing 26(see Fig. 3) which is pivoted in a gimbal ring 21. The gimbal ring 21 ispivoted inv a cross member 28 and is provided with a shaft 2s which isrotatably mounted vin a control box 30. To the end of the shaft 29 (seeFigs. 4 and 5) is attached a contact arm 32 which co-operates with twosemi-circular conducting segments 33 and 34 which are-mounted on `butinsulated from a disc 35. The disc 35 is rotatably mounted in line withthe shaft 29 and is provided with two sets of ratchet teeth 36 and 31and a set of detent teeth 38. I

Mounted in the control box 3U are two solenoids 4I and 4Ia which areprovided with cores 43 and 43a which reciprocate in brackets 44 andFig..6 illustrates diagrammatically the receiv- A ing' circuits locatedon the rocket.;

' Figf! is a section taken on line 'I-1 of F-ig. 2;

Fig. 8 is a section taken on line 8-.8 of Fig. 2; f Fig. 9 isa blockdiagram ofthe transmitter: and I y Q Fig. 10 is alongitudinal section ofthe forward portion'of the rocket showing amodied form of the invention.

Q .Like reference characters denote like parts in the several figures ofthe-drawings.

inthe, fonowmg "descriptionparts Win be identiiedbyspeciiic names forconvenience, -but they are intended to be as generic in theirapplicationto similar Yparts as lthe art will permit. `Referringto the accompanyingdrawings andy more particularly to Figsnl and 2 a rocket II is shown asresting in a ring` tube I2 Iwhich may be mounted in any suitable manner,not shown, for projecting the rocket I I in any desired direction.v Therocket II is divided into explosive, control, and propulsioncompartments I3, I4 and I 5l respectively by two transverse partitions.I6

44a respectively. The cores 43 and 43a are providedwith shoulders 45,45a and 46, 46a, respectively, the latter Anormally engaging thebrackets `144, 44a. Between the shoulders 45, 45a and the solenoids aremounted compression springs 47, 41a. Pivotally mounted on the cores 43,43a are pawls 48, 48a against which press hat springs 49, 49a. The pawls48 and'48a cooperate with the ratchets 36 and 31, respectively, but arenormally held out of engagement withthese ratchets. A detent 40 issecured to the end of a at spring 50 and engages the teeth 38. VThegyroscope 222 is similar to the gyroscope 22 and is provided with ashaft 229 rotatably mounted in a control box 23D. The correspondingparts have been given thesame reference characters as those describedabove Vbut with the numerals increased by 200.

In order tohold the gyroscopes 22 and 222 in xed positions until therocket II is ready to be red L shaped arms 5I and 215i are providedwhich are pivoted to brackets 52 and 252 secured to the shell of therocket II. Engaging the small ends of the arms 5I and 2.5I are'Z-shaped`members 53 and 253 which are pivoted in brackets 54 and 254. Flatsprings'55 and 255 tend to hold one end of the respective members 53.and 253 against the inside surface of the tube-cl2.

'of the rocket l'fe'i'stm springs 56 and 256 are connected to the Y5|and. 25| are provided with contacts 58 and 258 which engage contacts 59and 259 connectedv to the windings 6| and 26| respectively of the gyrorotors. The contacts 58 and 258Tare con nected by exible conductors 62and 262 to contacts 63 and 263 respectively which are mounted in blocksof insulation 64 and 264 in the shell of the rocket |I. The contacts 63and 263 normally engage contacts 65 and 265 respectively mounted inblocks of insulation 66 and 266 in the tube l2. The contacts 65 and 265are connected in parallel across a source of electrical energy 61through a switch 66.

Fig, 6 is a diagrammatic illustration of the receiver 24 which may besimilar in design to the receiver depicted in Fig. 3 of my co-pendingapplication 458,938 and is connected to a directional antenna system 112, 13-14 which is mounted at the tail of the rocket (see Fig. 8). Theaxes of the antennas 1|-12 and 13--14 are located4 in planes at rightangles to each other and preferably in the planes of the vanes 20.

The antennas are shown as comprising wave receiving members 15-16 and11-18 and directional members 8|82 and 83-84. The directional membersare suited to make the receiving elements receptive to signals, receivedfrom the rear and to shield the receiving members from waves propagatedfrom other directions, so that possibility of interference with thecontrol beam is eliminated. A

The receiver 24 is -connected thru ve lters 85-89 to the input circuitsofnve ampliers BSc-89a the output `circuits of which are connected tothe solenoids 4| and 4|a in control box 30, the solenoids 24| and 24m inthe control box 230, and to a relay 90 respectively. The contacts l ofthe relay 90 are connected thru a battery 90a (Fig. l) to a detonator90b which is located in the explosive charge I9 in the explosivecompartment |3.

The rudder operating mechanism controls two sets of rudders 9| and92pivotally mounted in the vanes 20. The two rudders 9| are connectedtogether by a curved rod 93 and the two rudders 92 are connectedtogether by a curved rod 94.

The two sets ol rudders 9| and 92 are connected by links 95 and 295-respectively to piston rods 96 and 296,L attached to pistons 91 and 291which reciprocate in cylinders 98 and 99. Balanced compression springs|0| and 30| are provided for normally holding the pistons 91 and 291respectively and therefore therudders 9| and 92, in a central position.

The pistons 91 and 2.91 are actuated by air under pressure which issupplied from a tank |02. This. tank is shown being connected by a pipe|03 to a. funnel shaped opening in the nose A ask containing air underpressure may also be used as a sourceof com.- pressed air if desired.The tank |02 is connected to the cylinders 98 and 99 by means ofconduits |04 and 300 and the supply of air to the interior ol thecylinders 98 and 99 is controlled by two piston valves |05 and |06respectively. The valve |05 is operated in opposite directions by meansof two solenoids |01 and |08 and the valve |06 is operated in oppositedirections by means of two solenoids |09 and H0. Balanced compressionsprings ||2 and 3|2 are provided to maintain the valves |05 and |06 in acentral position when the solenoids |01-I I0 are de-energized.

The windings of the solenoids |09 and 0 are connected by conductors ||3and ||4 to two brushes H5 and H6 which are mounted on a block ofinsulation ||1 in the control box 30 and which make contact with thecontact segments 33 and 34 respectively. The return leads of thewindingsof the solenoids |09 and ||0 are connected by a conductor ||8 toa battery ||9 which is connected by a conductor |20 to the contact arm32. The solenoids |01 and |08 are connected in a similar manner tobrushes ||5a and ||6a in control box 230. The conductors H3, ||4 and |20together with the conductors from the radio receiver 24 to control boxv30, pass thru a protective sleeve |2| under the gyroscope 222.

For igniting `the propulsion powder sticks 2| an igniter |22 is providedwhich is mounted adjacent tothe powder sticks 2| and is connected by twoconductors |23 to two contacts |24 mounted in a block of insulation |25.The contacts |24 engage contacts |26 which are mounted in a block ofinsulation |21 and which are connected in series with a battery |28 anda switch |29.

Fig. 9 is a diagrammatic illustration of the transmitter which may besimilar in design to the transmitter depicted in Fig. 2 of my copendingapplication. Serial Number 458,938. The transmitter is of a. type togenerate a short wave carrier modulated by a control frequency. Fivemodulators |30--I34 are connected to vary the control frequency whenindividually operated to.

produce the A, -B, C, D and E control frequencies respectively.Thefmodulators |30- |34 are controlled by five keys |35-|39. Thetransmitter is connected to the antenna |4|` by means vof the line |42.

Operation A few minutes before it is desired to .fire the tained atspeed. The gyroscopes 22 and 222 are*v held in the positions shown bymeans of the arms 5| and 25|. Y When it is desiredto flre the rocket theswitch |29 is closed thus completing aicircuit from the battery |28 tothe igniter |22 .which ignites the powder sticks 2 I. As these commenceto burn the products of combustion will be forced out of the dischargetube I8 and will cause the rocket to be propelled out of the tubell2. Asthe rocket Vl leaves Ythe tube I2 the supplyof powerto the gyroscopes 22and 2227Wi11 be cut off, but their rotors will continue to rotate for along period of Vtime due to theirmomentum. As the rocket leaves the tube|2 the members 53 and 253 will no longer press against the inside' ofthe tube I2 but will be free to rotate slightly under the action of thesprings 55 and 255 thus releasing the arms 5| and 25| whichunder theaction ofthe springs 56 and 256 will be Vmoved away from the gyroscopes22 and 222, thus leaving them free to turn in the rocket.

As long `as the rocket travels in the'direction in which it Was headedthe contact arms 32 and 232 in the control boxes 30 and 230 will remainthe left.

tated withthe rocket in a clockwise direction relative thereto. Thiswould cause the arm 32 'to engage the'segment 33 which would clojse acircuit from the battery H9, conductor |20,?arm

V32, segment 33, brush H5, conductor H3, solenoid |09, and conductor H8back tothe battery H9. This will cause the energization of the solenoid|09 which in turn will cause the piston valve |06 to move upward whichwill allow air under pressure to pass from the tank |02 thru pipe |04 tothe upper end of the cylinder 99. This will cause the piston 91 in thiscylinder to move downward which by means of the piston rod 96:.and link95 will cause the rudders 92 to be moved in a clockwise direction tosteer the rocket H to The rocket will continue to turn to the left untilit is again on its original course at which time the insulation betweenthe segments 33iand 34 will have moved under the arm 32 and; the circuitto the solenoid |09 will be broken, thus allowing the piston valve |06to be returned to acentral position under the action of the springs H2.will then be returned to a central position under the action of thesprings I I If the rocket II deviates to the left or up or down asimilar action Nwill take place energizing the solenoids H0, |01 or |08.respectively. Itis thus seen that in this way the rocket is maintainedon a predetermined straight course which is a prolongation of thedirection in which it was headed when it was iired.

. If it is desired to deflect the rocket I from its course, the radiocontrol mechanism is operated under the control Yof Ythe transmittershown in Fig. 9 which may be located on the ground adjacent to theilring tube I2 or at any other suitable location as on an airplane whichmay control the direction of the rocket from the air.

In the operation of the transmitter of Fig. 9 a radio frequency isgenerated which is modulated by KAI UB, IC7 HD!) HEI frequency when anyone of the keys |30, |3|, |32, |33 or |34 is depressed. In this way whenany one of the keys |-I34 is depressed aplane polarized Wave is radiatedfrom the antenna |4I, this wave being modulated at a diierentpredetermined frequency for each key.

The modulated radio wave transmitted from the antenna |34 is received bythe antenna system 1I-14 of the rocket and selectively operates theamplifiers 85a-89a. The ampliers 85a-89a will in turn energize thesolenoids 4I--4Ia of control box 30, the solenoids 24|, 24| a of controlbox 230, or the relay 90 respectively.

If, for example, it is desired to deflect the rocket H to the left, asseen in Fig. 1, the key |36 of the transmitter is depressed which causesthe .B frequency to be transmitted` The radiated wave is picked up bythe receiving antenna 'll- 14 on the rocket H and actuates the amplifier86a: This amplifier is connected to the solenoid 4Ia in control box 30where is thereby energized. Theenergization of the solenoid 4Ia causesthe core 43a to be moved downward which allows the pawl 48a to engageone of the teeth 31. As the core 43a continues to move downward the discwill be rotated in a clockwise direction until the detent has droppedinto the next tooth 38.'

The piston 91 together with the rudders 92 l 6 n The rotationof the disc35 will carry with it the y segments 33 and 34 sothat the arm 32 willengage the segment 33. This, as previously described will cause theenergization of the'solenoid ments-33 and 34 to move under the arm 32.

|09 which in turn will cause the rudders 92 to be deilected to the leftto steer the rocket Il to the left. This delecting movement willcontinue until the rocket has been deflected sufficiently to the left tocause the insulation between the seg- At this time the rocket II willagain assume a straight course and will continue to travel on thesameuntil another radio impulse is sent.

If it is desired to deflect the rocketll to the right the key |35 of thetransmitter is depressed causing the A frequency to be transmitted. Thisas already described actuates theamplifier a and energizes the solenoid4| in control box 30. The energization of this solenoid causes therotation of the disc 35 one step in a counterclockwise direction,whichin a manner similar to that already described, causes theenergization of the solenoid H0 which, in turn deilects the rudder 92 tothe right and steers the rocket |I to the right.

In a similar manner the depressing of the keys |31 or |38 of thetransmitter will cause the rocket I| to be deflected either down or upthru a given angle. If it is desired to. deflect the rocket Il furtherinY any given direction a second or third impulse of the required typeis sent and the disc 35 will be rotated two or three steps as desired.

It is thus seen that a system is provided which will normallymaintainthe rocket on a straight course. By sending suitable impulsesthe rocket may be deflected thru predetermined angles yin any one offour directions at right angles to each other. YAfter being so'ldeilected the rocket will maintain' the new course until furtherimpulses are sent to deflect it in a diiierent direction.

If it is desired to explode the rocket when it reaches the vicinity ofthe target the key |39 at the transmitter is depressed causing the Efrequency to be transmitted. This is receivedfby the antenna system 14and receiver 24 and operates the amplifier 89e which in turn causes theenergization of the'relay 90. This will close a circuit from the batterya to the detonator 90b which will cause the detonation of the explosivecharge I9.

A modification of the invention is shown in Fig. 10 in which theexplosive charge I9 is replaced by a parachute |45, so that when therocket is used for experimental purposes it may be recovered undamaged.

In this modiiled form of the invention a portion of the shell of therocket I I is formed with a door |46 which is hinged at |41. A lockingmechanism |48 is provided which is operated by a solenoid |49 whichtakes the place of the detonator 90b, shown in Fig. 1, and is controlledby the relay 90. A spring |5I is secured to the inside of the casing ofthe rocket I| and presses against the door |46 tending to force it open.The parachute I 45 is attached to one end of `a. cord |52 the other endof which is secured to a lug |53 attached to the bulkhead I6.

[Operation of Fig. 9

At the end of an experimentall flight when the velocity of the rocket isnearly zero the E frequency is transmitted and, as previously described,causes the operation of the relay 90 which in turn causes theenergization of the solenoidV 7 |49 which releases the locking mechanism|48. This causes the door |46 to be opened under the action of thespring 15| and allows the parachute crossed rudders for steering in fourdirections,

steering mechanism including a pair of stable mem-bers mountedrespectively for freedom of movement about the two axes of said rudders,control elements actuated by the respective stable members and connectedto control the respective rudders to maintain a given course, means toshift each control element relative to said stable member for changingthe course, and means responsive to received radiant energy pulses foractuating said shifting means.

2. In a rocket, jet propulsion means, sets of crossed rudders forsteering in four directions, steering mechanism including a pair ofstable members mounted respectively for freedom of movement about thetwo axes 'of said rudders, control elements actuated by the respectivestable members and connected to control the respective rudders tomaintain a given course, reversible step-by-step means to shift eachcontrol element relative to said stable member for changing the course,a radio receiver receptive to radiant energy pulses, selective means tosegregate pulses of predetermined characteristics, and relay meansresponsive to selected pulses to actuate said stepby-step means.

3. In a rocket. jet propulsion means, sets of crossed rudders forsteering in four directions, steering mechanism including a pair ofstable members mounted respectively for freedom of movement about thetwo axes of said rudders, control elements actuated by the respectivestable members and connected to control the respective rudders tomaintain a given course, a. radio receiver having circuits selective tocontrol signals of different characteristics, relay means connected tosaid circuits to be actuated by the respective signals and step-by-stepmechanism actuated by each relay to shift said control. element forsteering the rocket in a given direction.

4. In a rocket, jet propulsion means, sets of crossed ruddersfor'steering the rocket ln four di; rections, a directive radio antennain alignment with each rudder and directionally receptive to radiantenergy received from the rear only, a radio receiver in said rocketconnected to be energized by thereceived energy and including circuitsselective of different control signals, rudder control means connectedto be actuated by said selected signals for steering said rocket, adetonator and additional means connected to be actuated by selectedsignals to actuate said detonator.

5. In a rocket, jet propulsion means, sets of crossed rudders forsteering the rocket in four directions, a directivev radio antenna inalignment with each rudder and directionally Vreceptiveto radiant energyreceived from the rear only, a radio receiver in said rocket connectedto be energized by the received energy and including circuits selectiveof diiTerentv control signals, rudder control means connected to beactuated by said selected signals for steering said rocket, a releasableparachute in said rocket. release mechanism therefore and additionalmeans connected to be actuated by selected signals to actuate Saidrelease means. Y Y e 6. In a rocket, jet propulsion means, steeringrudders, steering control mechanism connected to actuate said rudders, agyroscope, a control member on said rocket actuated by movement relativeto said gyroscope to actuatesaid Steering control mechanism so as tomaintain a predetermined course, means locking said gyroscope in a givenposition, and means responsive to launching of said rocket to releasesaid ,locking means.

JOHN HAYS HAMMOND, JR.

